Avoid_path.h

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#ifndef HRK_AVOID_PATH_H
#define HRK_AVOID_PATH_H

#include <memory>
#include <vector>
#include "path_t.h"


namespace hrk
{
    class PointF;
    class CircleF;

    class Avoid_path
    {
    public:
        enum {
            Auto_id = -1,
        };

        Avoid_path(void);
        ~Avoid_path(void);

        void set_eps(double eps);

        void set_max_path_size(int max_path_size);

        long set_obstacle(const CircleF& circle, long obstacle_id = Auto_id);

        const CircleF* obstacle(long obstacle_id) const;

        void remove_obstacle(long obstacle_id);

        void clear_obstacles(void);

        std::vector<path_t> path(const PointF& start,
                                 const PointF& goal, double margin);

    private:
        Avoid_path(const Avoid_path& rhs);
        Avoid_path& operator = (const Avoid_path& rhs);

        struct pImpl;
        std::auto_ptr<pImpl> pimpl;
    };
}

#endif